
#ifndef COMMON_INCLUDE_H
#define COMMON_INCLUDE_H

// define the commonly included file to avoid a long include list
// for Eigen
#include <Eigen/Core>
#include <Eigen/Geometry>
using Eigen::Vector2d;
using Eigen::Vector3d;

// for Sophus
#include <sophus/se3.h>
#include <sophus/so3.h>
using Sophus::SO3;
using Sophus::SE3;

// for cv
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc.hpp>
using namespace cv;

//g2o
#include <g2o/core/base_vertex.h>
#include <g2o/core/base_unary_edge.h>
#include <g2o/core/base_binary_edge.h>
#include <g2o/core/block_solver.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
#include <g2o/solvers/csparse/linear_solver_csparse.h>
#include <g2o/types/sba/types_six_dof_expmap.h>

// std 
#include <vector>
#include <list>
#include <memory>
#include <string>
#include <iostream>
#include <set>
#include <unordered_map>
#include <map>


//ceres
#include "ceres/ceres.h"

using namespace std; 
#endif
